Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System

Yao Li, Lanhua Hou, Yang Yang and Jinwu Tong

Mathematical Problems in Engineering, 2020, vol. 2020, 1-12

Abstract:

To deal with the problems of outliers and nonlinearity in the complex underwater environment, a Huber’s M-estimation-based cubature Kalman filter (CKF) is proposed for an inertial navigation system (INS)/Doppler velocity log (DVL) integrated system. First, a loosely coupled INS/DVL integrated system is designed, and the nonlinear system model is established in the case of big misalignment angle. Then, Huber’s M-estimation is introduced for robust estimation to resist outliers. Meanwhile, the CKF is focused to handle the nonlinearity of the state equation. Finally, simulation and the vehicle test are conducted to evaluate the effectiveness of the proposed method. Results show that the proposed method outperforms the conventional Kalman filter (KF) and outlier detection-based robust cubature Kalman filter (RCKF) in terms of navigation accuracy in the complex underwater environment.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/1060672.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/1060672.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:1060672

DOI: 10.1155/2020/1060672

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().